Information processing apparatus and information processing method

ABSTRACT

An information processing apparatus including a processing unit that sets, on a basis of acquired input information, a feedback target range in which an object existing on inside serves as a target to be fed back to a user, in which the processing unit outputs information regarding the set feedback target range to an output unit.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a U.S. National Phase of International PatentApplication No. PCT/JP2016/054954 filed on Feb. 19, 2016, which claimspriority benefit of U.S. Patent Application No. 62/215,311 filed on Sep.8, 2015. Each of the above-referenced applications is herebyincorporated herein by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to an information processing apparatus,an information processing method, and a program.

BACKGROUND ART

In recent years, a technology for further improving a living environmentof a user has been energetically developed. An example thereof is atechnology for supporting a daily life, such as walking, of a visuallyimpaired person. There are many obstructions that cannot be easilydetected by using a white cane that has been conventionally and widelyused, and therefore it is desired to develop a technology for detectingsuch obstructions to compensate for a weakness of the white cane.

In another field, for example, a technology for improving a drivingenvironment of a vehicle has also been developed. For example, PatentLiterature 1 cited below discloses a technology of restricting ameasurement range of a measurement instrument for measuring a distancebetween two vehicles only at the time of driving in a curve, therebypreventing an obstruction such as a guardrail from being mistakenlydetected in the curve without detecting a vehicle running ahead.

CITATION LIST Patent Literature

Patent Literature 1: JP 2000-298800A

DISCLOSURE OF INVENTION Technical Problem

A technology for compensating for a weakness of a white cane is, forexample, a technology of giving a notice to a user in a case where adistance from an obstruction existing in the vicinity of the user ismeasured and the obstruction exists in a predetermined distance.However, which obstruction the user should be notified of may bedifferent depending on a situation of the user. In view of this, it isdesirable to provide a system capable of appropriately performingsetting regarding an obstruction which the user should be notified of.

Solution to Problem

According to the present disclosure, there is provided an informationprocessing apparatus including a processing unit configured to set, on abasis of acquired input information, a feedback target range in which anobject existing on inside serves as a target to be fed back to a user,in which the processing unit outputs information regarding the setfeedback target range to an output unit.

Further, according to the present disclosure, there is provided aninformation processing method including: setting, by a processor to set,on a basis of acquired input information, a feedback target range inwhich an object existing on inside serves as a target to be fed back toa user; and outputting information regarding the set feedback targetrange to an output unit.

Further, according to the present disclosure, there is provided aprogram causing a computer to function as an information processingapparatus including a processing unit configured to set, on a basis ofacquired input information, a feedback target range in which an objectexisting on inside serves as a target to be fed back to a user, in whichthe processing unit outputs information regarding the set feedbacktarget range to an output unit.

Advantageous Effects of Invention

As described above, the present disclosure provides a system capable ofappropriately performing setting regarding an obstruction which a usershould be notified of. Note that the effects described above are notnecessarily limitative. With or in the place of the above effects, theremay be achieved any one of the effects described in this specificationor other effects that may be grasped from this specification.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is an explanatory view for describing an example of an exteriorconfiguration of an information processing apparatus according to thepresent embodiment.

FIG. 2 is a block diagram showing an example of an internalconfiguration of the information processing apparatus according to thepresent embodiment.

FIG. 3 is a block diagram showing an example of a logical functionalconfiguration of the information processing apparatus according to thepresent embodiment.

FIG. 4 is an explanatory view for describing a complementaryrelationship between the information processing apparatus according tothe present embodiment and a white cane.

FIG. 5 is an explanatory view for describing an example of a feedbacktarget range set by the information processing apparatus according tothe present embodiment.

FIG. 6 is a flowchart showing an example of a flow of feedbackprocessing executed in the information processing apparatus according tothe present embodiment.

FIG. 7 is an explanatory view for describing an example of setting of afeedback target range based on a moving speed of a user.

FIG. 8 is an explanatory view for describing an example of output of animage showing a content of setting of a feedback target range.

FIG. 9 is an explanatory view for describing an example of setting of afeedback target range based on a posture of a user.

FIG. 10 is an explanatory view for describing an example of setting of afeedback target range based on a relative speed of an object.

MODE(S) FOR CARRYING OUT THE INVENTION

Hereinafter, (a) preferred embodiment(s) of the present disclosure willbe described in detail with reference to the appended drawings. Notethat, in this specification and the appended drawings, structuralelements that have substantially the same function and structure aredenoted with the same reference numerals, and repeated explanation ofthese structural elements is omitted.

Note that description will be provided in the following order.

-   -   1. Configuration example        -   1.1. Hardware configuration example        -   1.2. Functional configuration example    -   2. Flow of Processing    -   3. Setting example of feedback target range    -   4. Conclusion        <<1. Configuration Example>>

First, a configuration example of an information processing apparatusaccording to an embodiment of the present disclosure will be describedwith reference to FIGS. 1 to 3.

<1.1. Hardware Configuration Example>

FIG. 1 is an explanatory view for describing an example of an exteriorconfiguration of an information processing apparatus 1 according to thepresent embodiment. In the example illustrated in FIG. 1, theinformation processing apparatus 1 is integrally provided witheyeglasses 90 and is mounted on a head of a user. The informationprocessing apparatus 1 includes a distance measurement sensor 10, anelectronic circuit 20, a vibrator 30, and a battery 40.

FIG. 2 is a block diagram showing an example of an internalconfiguration of the information processing apparatus 1 according to thepresent embodiment. As illustrated in FIG. 2, the information processingapparatus 1 includes an acceleration sensor 50 and a geomagnetic sensor60 which are not illustrated in FIG. 1.

The distance measurement sensor 10 is a device for measuring a distancefrom an object existing in a surrounding environment. The distancemeasurement sensor 10 may be realized by, for example, a sonic sensor,an ultrasonic sensor, a radio wave sensor, a stereo camera, an imagesensor of a time-of-flight (TOF) method, or the like. As illustrated inFIG. 2, the distance measurement sensor 10 may include a transmitter 11for transmitting a sonic wave, an ultrasonic wave, light, or the likeand a receiver 13 for receiving a reflected wave obtained by causing atransmission wave from the transmitter 11 to be reflected by an object(i.e., obstruction). The distance measurement sensor 10 measures adistance from an object on the basis of a relationship (e.g., phasedifference) between a transmission wave and a reflected wave.

The vibrator 30 is a device that vibrates on the basis of control by theelectronic circuit 20.

The battery 40 is a device for supplying power to each device includedin the information processing apparatus 1, such as the distancemeasurement sensor 10, the electronic circuit 20, the vibrator 30, theacceleration sensor 50, and the geomagnetic sensor 60.

The acceleration sensor 50 is a device for measuring acceleration. Theacceleration sensor 50 measures acceleration regarding the informationprocessing apparatus 1. For example, the acceleration sensor 50 may be athree-axis acceleration sensor.

The geomagnetic sensor 60 is a device for measuring geomagnetism. Thegeomagnetic sensor 60 may be a so-called electromagnetic compass and canmeasure an orientation in which the information processing apparatus 1faces.

The electronic circuit 20 is a device for controlling each deviceincluded in the information processing apparatus 1. As illustrated inFIG. 2, the electronic circuit 20 may be realized by a microcomputer 20.Further, the electronic circuit 20 may be realized by a centralprocessing unit (CPU) or a micro-processing unit (MPU). For example, theelectronic circuit 20 acquires sensor information obtained by varioussensors such as the distance measurement sensor 10, the accelerationsensor 50, and the geomagnetic sensor 60 and performs various kinds ofprocessing, thereby causing the vibrator 30 to vibrate in accordancewith processing results.

Hereinabove, the hardware configuration example of the informationprocessing apparatus 1 has been described. Note that the exteriorconfiguration illustrated in FIG. 1 is an example and the presenttechnology is not limited to such an example. For example, theinformation processing apparatus 1 may be mounted on a white cane, maybe mounted on a belt, or may be realized in various forms such as a headmounted display (HMD) type, a pendant type, or a watch type. Further,the information processing apparatus 1 may be realized as a non-wearabledevice such as a smartphone.

Further, the use of the information processing apparatus 1 is notlimited to an obstruction detector for a visually impaired person ormildly visually impaired person. For example, the information processingapparatus 1 may also be used as, for example, an obstruction detector inthe dark to assist an able-bodied person to work. Further, theinformation processing apparatus 1 may be used for a game or may beattached to a drone, a door, or the like to be used to prevent crimes.

<1.2. Functional Configuration Example>

FIG. 3 is a block diagram showing an example of a logical functionalconfiguration of the information processing apparatus 1 according to thepresent embodiment. As illustrated in FIG. 3, the information processingapparatus 1 includes an input unit 110, an output unit 120, a storageunit 130, and a processing unit 140.

The input unit 110 has a function of accepting input of various kinds ofinformation. Specifically, the input unit 110 corresponds to thedistance measurement sensor 10 (i.e., distance measurement unit), theacceleration sensor 50, and the geomagnetic sensor 60. The input unit110 may include not only those sensors but also, for example, anarbitrary sensor such as an image sensor or a gyro sensor. Hereinafter,the information input to the input unit 110 will also be referred to as“input information”. The input unit 110 outputs the input information tothe processing unit 140.

The output unit 120 has a function of outputting various kinds ofinformation on the basis of control by the processing unit 140.Specifically, the output unit 120 corresponds to the vibrator 30. Theoutput unit 120 may include not only the vibrator 30 but also, forexample, an audio output device such as a speaker or earphones or mayinclude a display device capable of outputting an image such as adisplay. Audio output is also useful for a visually impaired person, andimage output is also useful for a mildly visually impaired person orable-bodied person. In addition, the output unit 120 may include adevice that performs output by using haptics, a smell, a taste, a lamp(e.g., light emitting diode (LED)), or the like.

The storage unit 130 temporarily or permanently stores programs andvarious data for operating the information processing apparatus 1.

The processing unit 140 provides various functions of the informationprocessing apparatus 1. Specifically, the processing unit 140corresponds to the electronic circuit 20. As illustrated in FIG. 3, theprocessing unit 140 includes an acquisition unit 141, a setting unit143, and an output control unit 145. Note that the processing unit 140may further include other constituent elements in addition to thoseconstituent elements. That is, the processing unit 140 may also performoperation of other constituent elements in addition to operation ofthose constituent elements.

Details of functions of the acquisition unit 141, the setting unit 143,and the output control unit 145 will be described in detail below.

(1) Acquisition of Input Information

The information processing apparatus 1 (e.g., the acquisition unit 141)acquires input information. The input information may includeinformation regarding sensor information. The information regardingsensor information includes not only raw sensor information but alsoinformation obtained by processing or interpreting the raw sensorinformation. For example, the input information may be informationregarding a distance (i.e., relative distance) from the user to theobject. In addition, this information regarding a relative distance maybe information indicating a relative distance itself obtained by thedistance measurement sensor 10, may be a relative speed of the objectobtained by differentiating the relative distance, or may be relativeacceleration of the object obtained by differentiating the relativedistance twice.

There are various kinds of input information. Hereinafter, examples ofthe input information will be described.

The input information may include, for example, information regardingthe user. For example, the input information may include a fixationpoint (e.g., line-of-sight direction or focus), a position of a tip of awhite cane, behavior information (e.g., stopping, walking, running,ascending and descending stairs, driving automobile, or the like), orinformation regarding a moving speed. Further, the input information mayinclude information regarding biological information (e.g., heartbeat,body temperature, perspiration, blood pressure, perspiration, pulse,respiration, nictation, eye movement, staring time, size of pupildiameter, blood pressure, brain wave, body movement, body position, skintemperature, electrical skin resistance, micro vibration (MV), musclepotential, and SPO₂ (blood oxygen saturation)). Further, the inputinformation may include emotional information (e.g., joy, anger, grief,and pleasure), a posture of the user (e.g., direction of head), profileinformation of the user (e.g., age, sex, and the like), a position ofthe user, or information regarding a user setting input by the user.Further, the input information may include information on a network suchas a friendship on a social networking service (SNS), a behaviorhistory, and information regarding a use state or the like of a device(i.e., the information processing apparatus 1).

The input information may include information regarding the object. Forexample, the input information may include information regarding a size,a position, a posture, hardness, a state (e.g., moving speed, movingdirection, track, update frequency, and the like), or an attribute(type, degree of danger, and the like) of the object.

The input information may include information regarding an environment.For example, the input information may include information regarding abackground (e.g., important information existing in surroundingenvironment, scenery of surrounding environment, and background color),illuminance, a place (e.g., inside/outside, and situation (geofence)), abehavior history (e.g., whether or not the user is in familiar place), aperipheral situation (e.g., presence/absence and density of objects suchas other people or vehicles in the vicinity of the user), time, analtitude, an air temperature, a wind direction, a flow rate, or thelike.

The input information may include information regarding the device(i.e., the information processing apparatus 1). For example, the inputinformation may include information regarding an attribute of the device(e.g., eyeglass-type, HMD, smartphone, or the like), a characteristic ofthe output unit 120 (e.g., display resolution, display size, HMD method,or the like), presence/absence of a sensor, an ID, a residual quantityof a battery, a battery capacity, whether or not charging is currentlyperformed, a processing load of a CPU, a temperature of the CPU,presence/absence of an external storage medium slot, a communicationmethod, an acoustic characteristic, a characteristic of an imager, a 3Dimaging ability, a 3D display ability, or the like. Further, the inputinformation may include information regarding a posture of the device, amounting state (e.g., mounted, not mounted, and a mounting place) in acase of a wearable device, or a position of the device (e.g., mountingposition in a case of wearable device).

(2) Feedback Target Range

The information processing apparatus 1 (e.g., the setting unit 143) setsa feedback target range. The feedback target range is a range (e.g.,space) in which an object existing on the inside thereof serves as atarget to be fed back to the user. As described in detail below, theinformation processing apparatus 1 sets a feedback target range on thebasis of the input information. With this, the information processingapparatus 1 can flexibly change the feedback target range in accordancewith a situation of the user (e.g., state of the user, behavior of theuser, surrounding environment, or the like) and can provide appropriatefeedback (e.g., warning). Note that setting of a feedback target rangeis a concept including not only setting of a size, shape, or the like ofthe feedback target range but also on/off of a feedback function itself.Furthermore, setting of a feedback target range may be a conceptincluding specification or exclusion of an object serving as a target tobe fed back (e.g., warning). The information processing apparatus 1 canchangeably set a feedback target range, and therefore the user can savecomplicated labor to manually set a feedback target range.

Herein, a complementary relationship between the information processingapparatus 1 and a white cane will be described with reference to FIG. 4.

FIG. 4 is an explanatory view for describing a complementaryrelationship between the information processing apparatus 1 according tothe present embodiment and a white cane. The white cane is effective indetecting an obstruction existing in a space 200 around feet. Meanwhile,it is difficult to detect an obstruction existing in a space 210 aboveknees by using the white cane. In view of this, by setting the space 210above knees as a feedback target range, the information processingapparatus 1 can detect an obstruction that cannot be easily detected byusing the white cane. As described above, the user can defendhimself/herself against a surrounding obstruction by using both thewhite cane and the information processing apparatus 1.

Hereinafter, a feedback target range will be specifically described withreference to FIG. 5.

FIG. 5 is an explanatory view for describing an example of a feedbacktarget range 210 set by the information processing apparatus 1 accordingto the present embodiment. The information processing apparatus 1 (e.g.,the setting unit 143) may set a first threshold (i.e., maximum distance)213 regarding a distance from the user and set a range in which thedistance from the user is less than or equal to the maximum distance 213or is less than the maximum distance 213 as the feedback target range210. With this, the user can detect, for example, only an obstructionexisting in a distance at which the user may collide with theobstruction. Further, the information processing apparatus 1 may set athird threshold (i.e., maximum angle) 212 regarding an angle from afront direction 211 of the user and set a range in which the angle fromthe front direction 211 of the user is less than or equal to the maximumangle 212 as the feedback target range 210. With this, the user candetect, for example, only an obstruction existing in a direction inwhich the user may collide with the obstruction. Note that the frontdirection 211 may mean a direction in which a face or a body is directedor may mean a moving direction in a case where the user is moving.Further, the angle from the front direction 211 of the user may mean anangle in a horizontal direction (i.e., horizontal width seen from theuser) or may mean an angle in a vertical direction (i.e., vertical widthseen from the user). That is, the feedback target range may be set as athree-dimensional space. Further, the information processing apparatus 1may set a second threshold (i.e., minimum distance) 214 regarding adistance from the user and set a region in which the distance from theuser is more than or equal to the minimum distance 214 or is more thanthe minimum distance 214 as the feedback target range 210. With this,for example, it is possible to omit a warning regarding an obstruction,a white cane, or a guide dog, which is positioned too close to the userand which the user can directly recognize with his/her hand or the like.

The feedback target range may have various shapes other than the shapeillustrated in FIG. 5. For example, the feedback target rangeillustrated in FIG. 5 has a uniform shape whose maximum distance is notchanged depending on a direction. However, the feedback target range mayhave a non-uniform (or can also be grasped as “nonlinear”) shape.Specifically, the maximum distance may be set to be large in a case of adirection of travel of the user, a direction in which a face isdirected, or a direction of a road, and the maximum distance may be setto be small in a case of a place behind or beside the user or adirection in which no road exists. The same applies to the minimumdistance and the maximum angle. Further, the feedback target rangeillustrated in FIG. 5 is defined in a polar coordinate system having theuser as the center but may be defined in, for example, an orthogonalcoordinate system. Specifically, the feedback target range may be anarbitrary three-dimensional space specified by setting of coordinates,lengths, or the like on coordinate axes in a vertical direction, ahorizontal direction, and a height direction. Further, the feedbacktarget range may be defined in an arbitrary coordinate system.

The information processing apparatus 1 can changeably set a feedbacktarget range on the basis of the input information. At that time, theinformation processing apparatus 1 may gradually change the feedbacktarget range. With this, for example, it is possible to gradually expandand contract the feedback target range, and therefore it is possible toprevent the user from being confused due to abrupt expansion andcontraction thereof. Further, the information processing apparatus 1 maychangeably set a time interval between a change in the input informationand a change in the feedback target range. For example, the informationprocessing apparatus 1 does not need to change setting of the feedbacktarget range for a while even in a case where the input information ischanged or may change the setting thereof at the same time when theinput information is changed. With this, it is possible to, for example,prevent the setting from being excessively changed or immediately changethe setting. Those setting examples will be described in detail belowwith reference to FIG. 7.

(3) Feedback

The information processing apparatus 1 (e.g., the output control unit145) outputs information regarding a set feedback target range to theoutput unit 120 and cause the output unit 120 to feed back theinformation to the user.

First, the information processing apparatus 1 may output informationregarding an object existing in the feedback target range. This feedbackcan also be grasped as a warning of an obstruction. With this feedback,the user can detect the object existing in the feedback target range.This feedback is expected to be a plurality of types including a slightwarning and a serious warning. For example, this feedback may be notonly a serious warning to urge avoidance or a slight warning to simplygiving the notice of existence but also, for example, the notice ofinformation of an object. As a matter of course, those plurality oftypes of feedbacks may be combined. Further, a feedback target range maybe set for each type of feedback. For example, a small feedback targetrange may be set for a serious warning, and a large feedback targetrange may be set for a slight warning.

Further, the information processing apparatus 1 may changeably controlfeedback in accordance with a relative relationship between the user andan obstruction. For example, the information processing apparatus 1 maycontrol a content of the feedback in accordance with a position of theobstruction seen from the user, a relative speed thereof, a relativespeed thereof, or the like. Herein, detection of the object existing inthe feedback target range may be performed on the basis of distributionof distances obtained by the distance measurement sensor, an imagerecognition result of an image obtained by an image sensor, or the like.

Second, the information processing apparatus 1 may output informationindicating the set feedback target range. This feedback can also begrasped as output of information indicating a content of setting. Thefeedback target range may be automatically changed. However, with thisfeedback, the user can grasp at any time that the user is warned ofwhich object existing in which range (distance, width, direction, andthe like). A specific output example will be described in detail belowwith reference to FIG. 8.

Further, the information processing apparatus 1 may output informationfor a route guide. For example, the information processing apparatus 1may output an audio guide, map display, or the like for causing the userto walk with a route having a small number of obstructions.

The information processing apparatus 1 may control a timing of feedback.For example, the information processing apparatus 1 may provide feedbackat a timing at which the walking is started, a timing at which cautionfor an obstruction is started (e.g., reducing a walking speed,frequently moving a white cane, or the like), or a timing at which thewalking is stopped.

(4) Setting of Distance Measurement Range

The information processing apparatus 1 (e.g., the setting unit 143) mayoutput information regarding a distance measurement range indicating arange in which distance measurement is performed to the distancemeasurement sensor 10 (i.e., measurement unit) for measuring a distancebetween the user and an object. This distance measurement range can alsobe grasped as a range in which an object is detectable. For example, theinformation processing apparatus 1 may output setting information of thedistance measurement range (e.g., a range in which a transmission wavetransmitted by the transmitter 11 can reach) so that distancemeasurement is performed in a narrower range in a condition in which atleast the feedback target range is included. With this, the distancemeasurement sensor 10 can save power because it is unnecessary toperform distance measurement beyond the feedback target range.

<<2. Flow of Processing>>

Hereinafter, a flow of processing performed by the informationprocessing apparatus 1 according to the present embodiment will bedescribed with reference to FIG. 6.

FIG. 6 is a flowchart showing an example of a flow of feedbackprocessing executed in the information processing apparatus 1 accordingto the present embodiment. As illustrated in FIG. 6, first, theinformation processing apparatus 1 acquires input information (StepS102). Then, the information processing apparatus 1 sets a feedbacktarget range on the basis of the input information (Step S104). Next,the information processing apparatus 1 outputs information indicating acontent of setting of the feedback target range (e.g., maximum distance,minimum distance, maximum angle, or object excluded from feedbacktarget) (Step S106). Note that the information processing apparatus 1may omit this step in a case where the content of the setting of thefeedback target range is not changed or may periodically execute thisstep. Then, the information processing apparatus 1 determines whether ornot an object has been detected within the feedback target range (StepS108). Then, in a case where an object has been detected within thefeedback target range, the information processing apparatus 1 outputs awarning (Step S110), and, in a case where no object has been detected,the information processing apparatus 1 terminates the processing withoutoutputting any warning in particular.

<<3. Setting Example of Feedback Target Range>>

Hereinafter, a specific setting example of a feedback target rangechangeably set by the information processing apparatus 1 will bedescribed.

(1) Setting Based on Moving Speed

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of a moving speed of the user. Herein, theinput information may include information regarding the moving speed ofthe user. The moving speed of the user may be estimated on the basis of,for example, a length of a time interval at which a single step isdetected, a magnitude of an amplitude, or the like by using an outputresult from the acceleration sensor.

Specifically, the information processing apparatus 1 may set a largermaximum distance as the moving speed of the user is faster and may set asmaller maximum distance (including 0; that is, turning off the feedbackfunction) as the moving speed of the user is slower. This is becausethere is a fear that, in a case where the maximum distance is small eventhough the moving speed is fast, detection of an obstruction is delayedand a collision with the obstruction may occur. For example, in a casewhere the maximum distance is 40 cm and the user walks at about 1 m persecond, the user collides with the obstruction unless the user stopswithin at least 0.4 second after a warning. Regarding this point, theinformation processing apparatus 1 sets a large maximum distance in acase where the moving speed is fast and can therefore prevent detectionof the obstruction from being delayed. Meanwhile, in a case where themaximum distance is large even though the moving speed is slow, the useris warned against a far obstruction with which the user does notprobably collide, thereby disturbing the user walking. Regarding thispoint, the information processing apparatus 1 can prevent excessivewarnings by reducing the maximum distance or turning off the feedbackfunction in a case where the moving speed is slow such as a case wherethe user stops walking or a case where the user sits. Furthermore, powerconsumption for warning such as vibration by the vibrator 30 is reduced,and therefore it is possible to realize reduction in power.

Hereinafter, setting of a feedback target range based on the movingspeed will be specifically described with reference to FIG. 7.

FIG. 7 is an explanatory view for describing an example of setting of afeedback target range based on the moving speed of the user. A partdenoted by a reference sign 220 indicates a walking state, and themoving speed is faster as hatching is darker. A part denoted by areference sign 230 indicates output from the acceleration sensor 50, anda horizontal axis shows time and a vertical axis shows an amplitude. Atiming at which this amplitude is observed indicates a timing of asingle step in walking and means that the user walks more slowly as aninterval is longer and means that the user walks faster as the intervalis shorter. For example, the user walks slowly in a section 221 in whichintervals between which amplitudes are observed are long. The user stopsin a section 222 in which no amplitude is observed. The user walksslowly in a section 223 in which intervals between which amplitudes areobserved are long. The user walks gradually faster in a section 224 inwhich intervals between which amplitudes are observed are graduallyreduced.

A part denoted by a reference sign 240 indicates a maximum distance of afeedback target range, and a horizontal axis shows time and a verticalaxis shows a distance. The maximum distance is 1 m in the section 221,and, when the user stops and enters the section 222, the maximumdistance is reduced to 40 cm, and the maximum distance becomes 0 m(i.e., the feedback function is turned off) after predetermined time 241elapses. As described above, the maximum distance may be graduallychanged. Alternatively, the maximum distance does not immediately become0 m even in a case where the user stops, and a time interval may be setto between a time point at which stop is detected and a time point atwhich the maximum distance becomes 0 m. Further, when the user restartswalking and enters the section 223, the maximum distance is graduallyincreased and becomes 1 m, and thereafter the maximum distance isgradually extended to 2 m and then 4 m as the user increases a walkingpace.

Herein, a feedback example will be described continuously with referenceto FIG. 7.

In a case where an object exists within the set maximum distance, theinformation processing apparatus 1 outputs a warning. For example, inthe section 221, a warning is output in a case where an object existswithin 1 m from the user. This warning may be output in various formssuch as vibration, audio output, or image output.

Further, the information processing apparatus 1 may output informationindicating the set feedback target range. For example, when theinformation processing apparatus 1 enters the section 222 and themaximum distance is set to 40 cm, the information processing apparatus 1may output audio “A detection distance becomes 40 cm”. Further, when thepredetermined time 241 elapses and the feedback function is turned off,the information processing apparatus 1 may output audio “Detection isstopped”. Further, when the information processing apparatus 1 entersthe section 223 and the maximum distance is set to 40 cm, theinformation processing apparatus 1 may output audio “Detection isrestarted and a detection distance is 40 cm”. Instead of audio output,information indicating a content of setting of the feedback target rangemay be output in the form of an image as illustrated in FIG. 8.

FIG. 8 is an explanatory view for describing an example of output of animage showing a content of setting of a feedback target range. Forexample, when the information processing apparatus 1 enters the section221 and the maximum distance is set to 1 m, the information processingapparatus 1 outputs an image 251, and, when the information processingapparatus 1 enters the section 222 and the maximum distance is set to 40cm, the information processing apparatus 1 outputs an image 252. Whenthe predetermined time 241 elapses and the feedback function is turnedoff, the information processing apparatus 1 outputs an image 253.Thereafter, when the information processing apparatus 1 enters thesection 223 and the maximum distance is set to 40 cm, the informationprocessing apparatus 1 outputs the image 252, and, when the maximumdistance is set to 1 m, the information processing apparatus 1 outputsthe image 251. Then, when the information processing apparatus 1 entersthe section 224 and the maximum distance is set to 2 m, the informationprocessing apparatus 1 outputs an image 254, and, when the maximumdistance is set to 4 m, the information processing apparatus 1 outputsan image 255.

(2) Setting Based on Posture

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of a posture of the user. Herein, the inputinformation may include information regarding the posture of the user.The posture of the user may be estimated on the basis of, for example,an output result from the gyro sensor or the geomagnetic sensor. In acase where the information processing apparatus 1 is expected to bemounted on the head of the user, the posture of the user can also begrasped as a direction of the head of the user.

Specifically, as illustrated in FIG. 9, the information processingapparatus 1 may set a smaller maximum distance as the user is directedtoward a ground side from the horizontal direction. FIG. 9 is anexplanatory view for describing of an example of setting of a feedbacktarget range based on the posture of the user. A reference sign 261denotes a maximum distance set in a case where the head of the user isdirected in the horizontal direction, and a reference sign 262 denotes amaximum distance set in a case where the head of the user is directedtoward the ground side from the horizontal direction. As describedabove, a small maximum distance is set in a case where the user isdirected toward the ground side, and therefore it is possible to preventa warning from being output because the ground is recognized as anobstruction. Further, it is also possible to prevent a warning frombeing output because a white cane or guide dog is recognized as anobstruction. Note that the maximum distance denoted by the referencesign 262 is desirably less than or equal to a height of the user and maybe, for example, about 1.2 m.

(3) Setting Based on Relative Speed

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of a relative speed between an object and theuser. Herein, the input information may include information regardingthe relative speed between the object and the user. The moving speed ofthe user may be estimated on the basis of, for example, a differentialvalue of a distance between the object and the user obtained by thedistance measurement sensor.

Specifically, as illustrated in FIG. 10, the information processingapparatus 1 may set a larger maximum distance as a speed at which anobject approaches the user is faster and set a smaller maximum distanceas the speed at which the object approaches the user is slower. FIG. 10is an explanatory view for describing an example of setting of afeedback target range based on a relative speed of an object. A feedbacktarget range 271 is set regarding an object 272 that approaches theuser. A feedback target range 273 is set regarding an object 274 thatrecedes from the user. As illustrated in FIG. 10, the feedback targetrange 271, which is set regarding the object 272 that approaches theuser fast, is set to have a large maximum distance. Therefore, theinformation processing apparatus 1 can have enough time to output awarning and can secure sufficient time for the user to avoid collision.Therefore, the user can avoid an object such as a running vehicle whichthe user cannot easily avoid even in a case where the user detectsexistence thereof by using a white cane. Meanwhile, the feedback targetrange 273, which is set regarding the object 274 that approaches theuser slowly (in this example, recedes from the user), is set to have asmall maximum distance. Therefore, it is possible to omit a warningregarding an object that takes a long time to cause danger of collisionor is not dangerous because the object recedes from the user. Therefore,for example, a warning is omitted in a case where the user walks at thesame pace as that of a person walking ahead of the user, and thereforethe user can walk with no stress.

Note that, as illustrated in FIG. 10, the information processingapparatus 1 may set a different feedback target range for each object.

(4) Other Examples

Input Information Regarding User

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of behavior information of the user. Forexample, the information processing apparatus 1 may set a small maximumdistance in a case where the user is walking and may set a large maximumdistance in a case where the user is running. Further, the informationprocessing apparatus 1 may set a feedback target range in the horizontaldirection in a case where the user is walking, may set a feedback targetrange on the ground side from the horizontal direction in a case wherethe user is descending stairs, and may set a feedback target range on aceiling side from the horizontal direction in a case where the user isascending stairs.

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of biological information or emotionalinformation of the user. For example, the information processingapparatus 1 may set a small maximum distance in a case where the user istense because it is difficult for the user to pay attention to whatexists ahead of the user and may set a large maximum distance in a casewhere the user is relaxed.

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of feedback from the user. For example, in acase where the user tends to ignore warnings, the information processingapparatus 1 may set a small maximum distance so that the user is onlywarned of a truly dangerous obstruction.

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of profile information of the user. Forexample, in a case where the user is an elderly person, the informationprocessing apparatus 1 may set a large maximum distance in order thatthere may be enough time to compensate for a slow reaction speed.

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of a fixation point of the user in a case ofan able-bodied person and a position of a tip of a white cane in a caseof a visually impaired person. For example, the user can recognize anobstruction existing at the fixation point or the position of the tip ofthe white cane, and therefore the information processing apparatus 1 mayturn off feedback (i.e., exclude an object existing at the fixationpoint or the position of the tip of the white cane from targets that theuser is warned of).

Input Information Regarding Object

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of hardness of an object. For example, aninfluence of collision with a hard object is large, and therefore theinformation processing apparatus 1 may set a large maximum distance inorder that there may be enough time for avoiding motion.

Input Information Regarding Environment

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of a place where the user exists. For example,in a case where the user is on a train, the information processingapparatus 1 may set a small maximum distance in order to preventexcessive warnings in the crowded train.

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of illuminance. For example, in a case wherethe user is a mildly visually impaired person or able-bodied person, theuser can exhibit satisfactorily good eyesight in a bright place, andtherefore the information processing apparatus 1 may set the maximumdistance to 0 (i.e., turn off the feedback function).

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of a relationship between a current place anda behavior history. For example, regarding a place where the user hasrecently visited or a familiar place, the user has already grasped asurrounding obstruction, and therefore the information processingapparatus 1 may set a small maximum distance. Note that the familiarplace is, for example, the inside of the user's office, house, or thelike.

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of a peripheral situation. For example, theinformation processing apparatus 1 may set a large maximum distance inan environment in which a density of objects (e.g., people, or vehicles,or the like) existing in a surrounding environment is low. Further, in acase where a person who guides or assists the user exists in thevicinity of the user, the information processing apparatus 1 may set asmall feedback target range (e.g., small maximum distance).

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of time. For example, the informationprocessing apparatus 1 may set a larger maximum distance at night thanin the daytime in order to prevent crimes.

Input Information Regarding Device

For example, the information processing apparatus 1 may set a feedbacktarget range on the basis of a residual quantity of a battery. Forexample, the information processing apparatus 1 may set a large maximumdistance in a case where the residual quantity of the battery is largeand may set a small maximum distance in a case where the residualquantity of the battery is small.

Control Example Based on Other Input Information

For example, the information processing apparatus 1 may control feedbackon the basis of a degree of urgency. For example, the informationprocessing apparatus 1 may change a strength of vibration by thevibrator 30, an interval of vibration, and a vibrator 30 to be vibratedamong a plurality of vibrators 30 on the basis of seriousness of thedegree of urgency. Note that the degree of urgency may be estimated onthe basis of a relative distance, a relative speed, hardness of anobject, or the like. For example, the degree of urgency may be estimatedto be higher as the relative distance is shorter, a speed at which theobject approaches the user is faster, and the object is harder.

For example, the information processing apparatus 1 may switch aprocessing content on the basis of the temperature of the CPU. Forexample, in a case where the temperature of the CPU is high, theinformation processing apparatus 1 may perform low-load processing, forexample, may set a small maximum distance.

Note that the information processing apparatus 1 may switch a distancemeasurement method on the basis of weather. For example, the informationprocessing apparatus 1 may switch from the distance measurement sensorusing an ultrasonic wave to a depth sensor in the rain because a speedof sound may be changed because of weather. The same applies to acondition that may change a speed of sound, such as an air temperature.

For example, the information processing apparatus 1 may control feedbackon the basis of a mounting place of the information processing apparatus1 (in particular, the output unit 120). For example, on the basis ofeasiness of perception, the information processing apparatus 1 mayvibrate for a short time in a case of being mounted on a head and mayvibrate for a long time in a case of being mounted on an arm.

<<4. Conclusion>>

Hereinabove, an embodiment of the present disclosure has been describedin detail with reference to FIGS. 1 to 10. As described above, theinformation processing apparatus 1 according to the present embodimentsets a feedback target range in which an object existing thereinsideserves as a target to be fed back to the user on the basis of acquiredinput information, and outputs information regarding the set feedbacktarget range to the output unit. With this, the user can receive awarning regarding an obstruction with which the user probably collidesand does not receive an unnecessary warning regarding an obstructionwith which the user improbably collides. Further, an appropriatefeedback target range is automatically set, and therefore the user canomit manual setting of a feedback target range based on a situation ofthe user himself/herself, and therefore convenience is improved.

The preferred embodiment(s) of the present disclosure has/have beendescribed above with reference to the accompanying drawings, whilst thepresent disclosure is not limited to the above examples. A personskilled in the art may find various alterations and modifications withinthe scope of the appended claims, and it should be understood that theywill naturally come under the technical scope of the present disclosure.

For example, each of the devices described in the present specificationmay be realized as a single device, or a part of or all the devices maybe realized as separate devices. For example, in the functionalconfiguration example of the information processing apparatus 1illustrated in FIG. 3, the storage unit 130 and the processing unit 140may be provided in a device such as a server connected to the input unit110 and the output unit 120 via a network or the like. Further, forexample, in the functional configuration example of the informationprocessing apparatus 1 illustrated in FIG. 3, the storage unit 130 andthe processing unit 140 may be provided in a smartphone, the input unit110 may be provided in eyeglasses, and the output unit 120 may beprovided in the eyeglasses and a smartwatch.

Further, an object may be an actual object or may be a virtual object.

Further, in the above embodiment, regarding setting of a feedback targetrange, a maximum distance has been mainly described. However, a maximumangle and a minimum distance may also be changeably set.

Further, the methods of setting a feedback target range based on variouskinds of input information, which have been described in the aboveembodiment, may be appropriately combined.

Note that it is not necessary for the processes described in thisspecification with reference to the flowchart and the sequence diagramto be executed in the order shown in the flowchart or the sequencediagram. Some processing steps may be performed in parallel. Further,some of additional steps can be adopted, or some processing steps can beomitted.

Further, the effects described in this specification are merelyillustrative or exemplified effects, and are not limitative. That is,with or in the place of the above effects, the technology according tothe present disclosure may achieve other effects that are clear to thoseskilled in the art from the description of this specification.

Additionally, the present technology may also be configured as below.

(1)

An information processing apparatus including

-   -   a processing unit configured to set, on a basis of acquired        input information, a feedback target range in which an object        existing on inside serves as a target to be fed back to a user,        in which    -   the processing unit outputs information regarding the set        feedback target range to an output unit.        (2)

The information processing apparatus according to (1), in which

-   -   the processing unit outputs information regarding the object        existing in the feedback target range.        (3)

The information processing apparatus according to (1) or (2), in which

-   -   the processing unit outputs information indicating the set        feedback target range.        (4)

The information processing apparatus according to any one of (1) to (3),in which

-   -   the input information includes information regarding sensor        information.        (5)

The information processing apparatus according to any one of (1) to (4),in which

-   -   the input information includes information regarding a distance        between the user and the object.        (6)

The information processing apparatus according to (5), in which

-   -   the processing unit sets a first threshold and sets, as the        feedback target range, a range in which the distance from the        user is less than or equal to the first threshold or is less        than the first threshold.        (7)

The information processing apparatus according to (6), in which

-   -   the input information includes at least one of information        regarding the user, information regarding the object,        information regarding a device, and information regarding an        environment.        (8)

The information processing apparatus according to (7), in which

-   -   the information regarding the user includes information        regarding a moving speed of the user.        (9)

The information processing apparatus according to (8), in which

-   -   the processing unit sets the first threshold to be larger as the        moving speed of the user is faster and sets the first threshold        to be smaller as the moving speed of the user is slower.        (10)

The information processing apparatus according to any one of (7) to (9),in which

-   -   the information regarding the user includes information        regarding a posture of the user.        (11)

The information processing apparatus according to (10), in which

-   -   the processing unit sets the first threshold to be smaller as        the user is directed toward a ground side from a horizontal        direction.        (12)

The information processing apparatus according to any one of (7) to(11), in which

-   -   the information regarding the user includes information        regarding a relative speed between the object and the user.        (13)

The information processing apparatus according to (12), in which

-   -   the processing unit sets the first threshold to be larger as a        speed at which the object approaches the user is faster and sets        the first threshold to be smaller as the speed at which the        object approaches the user is slower.        (14)

The information processing apparatus according to any one of (7) to(13), in which

-   -   the information regarding the device includes information        regarding a residual quantity of a battery.        (15)

The information processing apparatus according to any one of (7) to(14), in which

-   -   the information regarding the environment includes information        regarding a density of the objects in the vicinity of the user.        (16)

The information processing apparatus according to any one of (1) to(15), in which

-   -   the processing unit sets a second threshold and sets, as the        feedback target range, a range in which a distance from the user        is more than or equal to the second threshold or is more than        the second threshold.        (17)

The information processing apparatus according to any one of (1) to(16), in which

-   -   the processing unit gradually changes the feedback target range.        (18)

The information processing apparatus according to any one of (1) to(17), in which

-   -   the processing unit changeably sets a time interval between a        change in the input information and a change in the feedback        target range.        (19)

The information processing apparatus according to any one of (1) to(18), in which

-   -   the processing unit outputs information regarding a distance        measurement range indicating a range in which distance        measurement is performed to a measurement unit configured to        measure a distance between the user and the.        (20)

An information processing method including:

-   -   setting, by a processor to set, on a basis of acquired input        information, a feedback target range in which an object existing        on inside serves as a target to be fed back to a user; and    -   outputting information regarding the set feedback target range        to an output unit.        (21)

A program causing a computer to function as an information processingapparatus including

-   -   a processing unit configured to set, on a basis of acquired        input information, a feedback target range in which an object        existing on inside serves as a target to be fed back to a user,        in which    -   the processing unit outputs information regarding the set        feedback target range to an output unit.        (22)

An information processing apparatus including

-   -   a control unit configured to set, on a basis of acquired input        information, a distance measurement range indicating a range in        which a distance from a position of a user to an arbitrary        object is measured, in which    -   the control unit outputs information regarding the set distance        measurement range to a distance measurement unit.        (23)

The information processing apparatus according to (22), in which

-   -   the input information includes information related to sensor        information.        (24)

The information processing apparatus according to (22) or (23), in which

-   -   the input information is information regarding a moving speed of        a user.        (25)

The information processing apparatus according to (4), in which

-   -   the distance measurement range is set on a basis of a maximum        measurement distance from the position of the user, and, in a        case where the moving speed of the user is higher than a        predetermined speed, the maximum measurement distance is set to        a first value, and, in a case where the moving speed of the user        is lower than the predetermined speed, the maximum measurement        distance is set to a second value different from the first        value.        (26)

The information processing apparatus according to (25), in which

-   -   the first value is larger than the second value.        (27)

The information processing apparatus according to (22) or (23), in which

-   -   the input information is information regarding a posture of the        user.        (28)

The information processing apparatus according to (27), in which

-   -   the distance measurement range is set on a basis of a maximum        measurement distance from the position of the user, and, in a        case where the user is directed downward, the maximum        measurement distance is set to a third value.        (29)

The information processing apparatus according to (22), furtherincluding

-   -   a notification unit configured to notify the user of the        information regarding the set distance measurement range.        (30)

The information processing apparatus according to (22), furtherincluding

-   -   a distance measurement unit configured to measure a distance        within the set distance measurement range.

REFERENCE SIGNS LIST

1 information processing apparatus

10 distance measurement sensor

20 electronic circuit

30 vibrator

40 battery

50 acceleration sensor

60 geomagnetic sensor

90 eyeglasses

110 input unit

120 output unit

130 storage unit

140 processing unit

141 acquisition unit

143 setting unit

145 output control unit

The invention claimed is:
 1. An information processing apparatus,comprising: a central processing unit (CPU) configured to: acquire inputinformation from at least one sensor, wherein the input informationincludes posture information indicating a direction of head of a user ofthe information processing apparatus; set, based on the postureinformation, a first threshold value corresponding to a first distancebetween the user and a first position at which an object is detectable;set a second threshold value corresponding to a second distance betweenthe user and a second position at which the object is detectable; set afeedback target range based on the first distance that is one of lessthan or equal to the first threshold value, and the second distance thatis one of more than or equal to the second threshold value, wherein thesecond threshold value is smaller the first threshold value, and theobject inside the set feedback target range serves as a target fed backto the user; and output information regarding the set feedback targetrange to an output device.
 2. The information processing apparatusaccording to claim 1, wherein the CPU is further configured to outputinformation of the object in the set feedback target range.
 3. Theinformation processing apparatus according to claim 1, wherein the inputinformation further includes information regarding a third distancebetween the user and the object.
 4. The information processing apparatusaccording to claim 1, wherein the input information further includes atleast one of information regarding the user, information regarding theobject, information regarding a device, or information regarding anenvironment.
 5. The information processing apparatus according to claim4, wherein the information regarding the user includes informationregarding a moving speed of the user.
 6. The information processingapparatus according to claim 5, wherein the CPU is further configuredto: set the first threshold value to a first value when the moving speedof the user is a first speed; and set the first threshold value to asecond value when the moving speed of the user is a second speed slowerthan the first speed, wherein the second value is less than the firstvalue.
 7. The information processing apparatus according to claim 1,wherein the CPU is further configured to set the first threshold valueto a minimum value when the user is directed toward a ground side from ahorizontal direction.
 8. The information processing apparatus accordingto claim 4, wherein the information regarding the user includesinformation regarding a relative speed between the object and the user.9. The information processing apparatus according to claim 1, whereinthe CPU is further configured to: set the first threshold value to afirst value when a speed at which the object approaches the user is afirst speed; and set the first threshold value to a second value whenthe speed at which the object approaches the user is a second speedslower than the first speed, wherein the second value is less than thefirst value.
 10. The information processing apparatus according to claim4, wherein the information regarding the environment includesinformation regarding a density of objects in vicinity of the user. 11.The information processing apparatus according to claim 1, wherein theCPU is further configured to output information of a distancemeasurement range, and the distance measurement range is a range inwhich a third distance between the user and the object is measurable.12. The information processing apparatus according to claim 1, whereinthe CPU is further configured to set the first threshold value based onat least one of a direction of travel of the user, a direction of a faceof the user, or a direction of a road.
 13. An information processingmethod, comprising: acquiring, by a processor of an informationprocessing apparatus, input information from at least one sensor,wherein the input information includes posture information indicating adirection of head of a user of the information processing apparatus;setting, by the processor, a first threshold value based on the postureinformation, wherein the first threshold value corresponds to a firstdistance between the user and a first position at which an object isdetectable; setting, by the processor, a second threshold valuecorresponding to a second distance between the user and a secondposition at which the object is detectable; setting, by the processor, afeedback target range based on the first distance that is one of lessthan or equal to the first threshold value, and the second distance thatis one of more than or equal to the second threshold value, wherein thesecond threshold value is smaller the first threshold value, and theobject inside the set feedback target range serves as a target fed backto the user; and outputting, by the processor, information regarding theset feedback target range to an output device.
 14. A non-transitorycomputer-readable medium having stored thereon computer-executableinstructions that, when executed by a processor of an informationprocessing apparatus, cause the processor to execute operations, theoperations comprising: acquiring input information from at least onesensor, wherein the input information includes posture informationindicating a direction of head of a user of the information processingapparatus; setting, based on the posture information, a first thresholdvalue corresponding to a first distance between the user and a firstposition at which an object is detectable; setting a second thresholdvalue corresponding to a second distance between the user and a secondposition at which the object is detectable; setting a feedback targetrange based on the first distance that is one of less than or equal tothe first threshold value, and the second distance that is one of morethan or equal to the second threshold value, wherein the secondthreshold value is smaller the first threshold value, and the objectinside the set feedback target range serves as a target fed back to theuser; and outputting information regarding the set feedback target rangeto an output device.